Team4388/RiseOfRidgebotics2020
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Add Shooting capabilities

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ryan123rudder
2020-02-19 20:48:34 -07:00
parent b0f420dc69
commit 6742028ba9
4 changed files with 98 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -2
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@@ -30,6 +30,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.ShootShooter;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -106,8 +107,11 @@ public class RobotContainer {
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));